Hi there, thanks for the great work.
I'm doing a standing controller + gravity compensation using feed-forward torque, the control works well in unitree_mujoco even high noise sensor.
My problem is I can't deploy it on the real g1. When I send kp, kd, q_des, dq_des everything is fine with low or high kp and kd. My problem is the tau_ff part of the motor, as soon as the value is a bit large like 1 or 2, the motors start vivrating a lot, I dont understand why?
did someone ever encounter this ? would this be solved if I used the python sdk?, I can provide some code if required. Thanks a lot.
Hi there, thanks for the great work.
I'm doing a standing controller + gravity compensation using feed-forward torque, the control works well in unitree_mujoco even high noise sensor.
My problem is I can't deploy it on the real g1. When I send kp, kd, q_des, dq_des everything is fine with low or high kp and kd. My problem is the tau_ff part of the motor, as soon as the value is a bit large like 1 or 2, the motors start vivrating a lot, I dont understand why?
did someone ever encounter this ? would this be solved if I used the python sdk?, I can provide some code if required. Thanks a lot.